Idk what Asura is.
I do know what Sun Wukong is tho. He defied the Gods no? Just like the Will of D? And I think Zoro has the Will of D. So Luffy and Zoro built different together.
We need to understand more regarding his Asura mode, we don't bear proof he did learn it, it could be innate... and in that case would that be descendancy of some sort.
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